Air-launched unmanned aerial vehicle

ABSTRACT

In one embodiment, a wing for an unmanned aerial vehicle is described. The unmanned aerial vehicle includes a first body of the wing with a first end proximate a body of the vehicle. A second end is opposite the first end. A first joint is on the first end of the first main body of the wing. The joint rotatably couples the wing to the vehicle. A second joint is on the second end of the vehicle. A second body of the wing is rotatably coupled to the first body via the second joint.

TECHNICAL FIELD

The present disclosure relates generally to aerial vehicles, and moreparticularly to air-launched unmanned aerial vehicles.

BACKGROUND

Unmanned aerial vehicles are aircraft capable of flight without a humanpilot aboard. Unmanned aerial vehicles are also referred to as UAVs,drones, or unmanned aircraft systems (UAS). UAVs may be driven remotelyby a human operator or may be autonomously driven by computers onboardthe system. UAVs may be used in military settings to providesurveillance and information back to a base station, an advance team, orothers. The UAV may provide information that is deemed too dangerous ormonotonous for human presence. UAVs may also be used by civilians forrecreational use and other purposes.

SUMMARY

One aspect of the present disclosure relates to a wing for an unmannedaerial vehicle. The wing includes a first and second main bodies, andfirst and second joints. The first main body has a first end configuredto be positioned adjacent to a body of the vehicle, and a second endopposite the first end. The first joint is positioned at the first endof the first main body and rotatably couples the wing to the body of thevehicle. The second joint is positioned at the second end of the firstmain body. The second main body is rotatably coupled to the first mainbody via the second joint.

The first joint may include a pin joint and the second joint may includea hinge joint. The hinge joint may include a lever arm, a fulcrumpositioned on the first main body about which the lever arm pivots, anda pivot joint connecting the lever arm to the second main body. Thehinge joint may further include a tension element connected to the leverarm and positioned to exert an unfolding moment force to the secondbody. The wing may also include a locking mechanism, which is operableto lock the first main body and the second main body in an operablecondition. The locking mechanism may include a groove formed in a firstwing spar, and a latch member formed in a second wing spar. The secondjoint may be canted at an angle to the body of the vehicle. The firstend of the first main body may be pivotally coupled to a top side of thebody of the vehicle. A bottom side of the first main body of the wingmay face a bottom side of the second main body of the wing when the wingis in a collapsed position.

Another aspect of the present disclosure relates to a method ofdeploying an unmanned aerial vehicle (UAV). The method includesproviding the unmanned aerial vehicle with a fuselage and at least afirst wing, the first wing including first and second wing spars,rotating the first wing away from the fuselage, rotating the second wingspar away from the first wing spar, and locking the first wing spar andthe second wing spar in an operable position.

The method may also include providing a canister, inserting the UAV inthe canister prior to rotating the first wing, and deploying the UAVfrom the canister prior to rotating the first wing. The method mayinclude putting the canister with inserted. UAV in a free fall state,and then slowing the descent of the canister with inserted UAV. Slowingthe descent may include deploying a drogue chute attached to an aft-endof the canister. The method may include putting the canister withinserted UAV in a free fall state, and deploying stabilizing dragsurfaces at an aft end of the canister. The method may include opening ahatch proximate a fore-end of the canister, wherein deploying the UAVfrom the canister includes deploying the UAV through the hatch. Themethod may include, after deploying the UAV from the canister, deployinga tail of the UAV, deploying a propeller of the UAV, and releasing alanyard connecting the UAV to the canister.

A further aspect of the present disclosure relates to an unmanned aerialvehicle that includes a fuselage and at least one wing. The wingincludes a first wing member pivotally coupled to the fuselage with afirst pivot joint, and a second wing member pivotally coupled to thefirst wing member with a second pivot joint.

The first wing member may be pivotable about a first axis orientedperpendicular to a length dimension of the fuselage, and the second wingmember may be pivotable about a second axis oriented parallel with thelength dimension of the fuselage. The wing may be operable between astored position aligned with the fuselage, and an operation positionextending out of alignment with the fuselage. At least one wing mayinclude first and second wings, wherein the first and second wings eachinclude the first and second wing members.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings and figures illustrate a number of exemplaryembodiments and are part of the specification. Together with the presentdescription, these drawings demonstrate and explain various principlesof this disclosure. A further understanding of the nature and advantagesof the present invention may be realized by reference to the followingdrawings. In the appended figures, similar components or features mayhave the same reference label.

FIG. 1 illustrates an example of an unmanned aerial vehicle inaccordance with the present disclosure;

FIG. 2 is a perspective view of an unmanned aerial vehicle of FIG. 1with an airframe depicted transparently to reveal other components;

FIG. 3A is a top down view of an example unmanned aerial vehicle inaccordance with the present disclosure;

FIG. 3B is a top down view of the unmanned aerial vehicle shown in FIG.3A in a folded configuration;

FIG. 3C is a forward-looking-aft view of the unmanned aerial vehicleshown in FIG. 3A in a folded configuration;

FIG. 3D is an aft-looking-forward view of the unmanned aerial vehicleshown in FIG. 3A in a folded configuration;

FIG. 3E is an aft-looking-forward view of the unmanned aerial vehicleshown in FIG. 3A transitioning to an unfolded configuration;

FIG. 4A depicts a side view of an unmanned aerial vehicle in a foldedconfiguration in accordance with one example of the present disclosure;

FIG. 4B depicts a side view of an unmanned aerial vehicle in an unfoldedconfiguration in accordance with one example of the present disclosure;

FIG. 5A depicts an unmanned aerial vehicle at a stage of launch inaccordance with one example of the present disclosure;

FIG. 5B depicts the unmanned aerial vehicle of FIG. 4A at another stageof launch in accordance with one example of the present disclosure;

FIG. 5C depicts an unmanned aerial vehicle at of FIG. 4A at anotherstage of launch in accordance with one example of the presentdisclosure;

FIG. 5D depicts an unmanned aerial vehicle at of FIG. 4A at anotherstage of launch in accordance with one example of the presentdisclosure;

FIG. 5E depicts an unmanned aerial vehicle at of FIG. 4A at anotherstage of launch in accordance with one example of the presentdisclosure;

FIG. 5F depicts an unmanned aerial vehicle at of FIG. 4A at anotherstage of launch in accordance with one example of the presentdisclosure;

FIG. 5G depicts an unmanned aerial vehicle at of FIG. 4A at anotherstage of launch in accordance with one example of the presentdisclosure;

FIG. 5H depicts an unmanned aerial vehicle at of FIG. 4A at anotherstage of launch in accordance with one example of the presentdisclosure;

FIG. 6 is a cutaway view of an example pivot joint in accordance withthe present disclosure;

FIG. 7A is a perspective view of an example wing joint in accordancewith the present disclosure;

FIG. 7B is a perspective view of the example wing joint shown FIG. 6Awith the wing joint in transition from a collapsed state to a deployedstate;

FIG. 7C is a perspective view of the example wing joint shown in FIG. 6Awith the wing joint shown after deployment;

FIG. 8 is an example system schematic in accordance with the presentdisclosure;

FIG. 9 is an example launching method in accordance with the presentdisclosure;

FIG. 10A is a further example of an unmanned aerial vehicle inaccordance with the present disclosure;

FIG. 10B is another example of an unmanned aerial vehicle in accordancewith the present disclosure; and

FIG. 10C is another example of an unmanned aerial vehicle in accordancewith the present disclosure.

While the embodiments described herein are susceptible to variousmodifications and alternative forms, specific embodiments have beenshown by way of example in the drawings and will be described in detailherein. However, the exemplary embodiments described herein are notintended to be limited to the particular forms disclosed. Rather, theinstant disclosure covers all modifications, equivalents, andalternatives falling within the scope of the appended claims.

DETAILED DESCRIPTION

Unmanned aerial vehicles (UAVs) have multiple uses. UAVs can gatherintelligence, deliver payloads, provide reconnaissance, and the like.UAVs, however, have a limited travel time that contributes to thedistance and conditions through which the UAV can travel beforereturning to a pick up location or potentially being forfeited orabandoned. UAVs may be launched in several manners depending upon, forexample, the end use of the UAV. Some UAVs spay be launched from aground position. Other UAVs may be launched from another aircraft orvehicle. For example, UAVs may be launched from airplanes, helicopters,submarines, and the like. Launching a UAV from a fixed wing aircraft maypermit delivery of the UAV closer to a desired target area. One methodof air delivery includes storing the UAV in a cover or housing, whichmay include a pod, canister, or capsule, and the UAV may be releasedfrom the cover or housing (e.g., aerially). The cover or housing mayprotect the UAV from damage during transport and/or during a free fallstage. The cover or housing may release the UAV at a desired elevation,thus potentially maximizing flight duration and decreasing damage risksto the UAV.

FIG. 1 is a perspective view of an exemplary unmanned aerial vehicle(UAV) 100. The UAV 100 may comprise a body, or fuselage 102. Thefuselage 102 may comprise the main body of the UAV 100 and containvarious electronic components of the UAV 100 including battery, computerequipment, and the like. The UAV 100 may additionally include a firstwing 104 and a second wing 106. The wings 104, 106 may provide the UAV100 with adequate lift for particular flight patterns (e.g., longflights). In some embodiments, the UAV 100 may be equipped with a set ofsecondary wings (not shown). This second set of wings may provideadditional stability.

The wings 104, 106 may be movable relative to the fuselage 102. Forexample, the wings 104, 106 may pivot about a pivot joint 118 located ona top portion of the fuselage 102. The pivot joint 118 may alternativelybe located at another area of the fuselage 102 such as further forwardor aft along the fuselage 102 or on a bottom portion of the fuselage102. The wings 104, 106 may additionally and/or alternatively fold ontothemselves. For example, the wings 104, 106 may include at least onewing joint 114, 116 located a predetermined distance away from thefuselage 102. In one embodiment, the wing joints 114, 116 may be locatedin approximately a center of the wings 104, 106 between a tip of thewings 104, 106 and the fuselage 102. In other embodiments, the wingjoints 114, 116 may be located at another location within the wings 104,106.

A removable hatch 120 may be positioned just aft of the pivot joint 118and wings 104, 106. The hatch 120, in a deployed state, may taper from atop surface of the wing 104 towards the fuselage 102. The hatch 120, ina stored state, may be held completely within a common plane as thefuselage and be tucked underneath the wings 104, 106 when the wings arein a stored state.

A propeller 108 may be located at a front end of the UAV (e.g., coupledto the front of the fuselage 102) and may be used to generate a forwardforce enabling the UAV 100 to take flight and/or remain in flight.Similar to the wings 104 and 106, the propeller 108 may fold ontoitself, which may reduce an overall footprint of the UAV 100 duringstorage.

A tail fin 110 may be positioned near an aft end of the fuselage 102which may provide the UAV 100 with directional stability. In someinstances, the UAV 100 may additionally include a horizontal stabilizer(not shown) or tailplane to stabilize the plane's pitch. Landing gear(not shown) may additionally be included which may allow the UAV 100 toland. The landing gear may comprise wheels, skids, or floats. In someinstances, the UAV 100 may include pontoons for aquatic landings. Thelanding gear may retract to reduce drag during flight.

FIG. 2 is a perspective view of an unmanned aerial vehicle 100 with thefuselage 102 depicted as a transparent component for purposes of viewingvarious internal components of the UAV 100 and with the hatch 120removed. Again, the UAV 100 may include a first wing 104, a second wing106, a propeller 108, and a tail fin 110. The UAV 100 may alsoincorporate additional or alternative features described with referenceto FIG. 1. The UAV 100 may have several components to aid in flight. TheUAV 100 may also have additional components that are mission and/or usedependent.

For example, the UAV 100 may include a motor 200. The motor 200 may beproximate a front end of the fuselage 102 and may be coupled to thepropeller 108 to turn or drive the propeller 108. The motor 200 may bepowered by one or more batteries 202 located within the fuselage 102.The batteries 202 may be single-use batteries or may be rechargeable.Other means of powering the motor 200 may also be used. For example,motor 200 may run on a liquid fuel, solar power, fuel cell, or the like.

The fuselage 102 may additionally include avionics 204. The avionics 204may include one or more avionic systems and/or components including, forexample, communications systems, navigation systems, display andmanagement of systems, and the like. The avionics 204 may controlvarious portions of the UAV 100. The avionics 204 may communicate with aremote system to control the UAV 100. The avionics 204 may alternativelybe programmed to carry out a specific mission that is independent ofhuman interaction. The avionics 204 may additionally communicate with anon-board global positioning system (GPS) 206. The avionics 204 may alsocontrol a payload 208.

In some embodiments, the payload 208 may be an intelligence,surveillance, and reconnaissance (ISR) payload. The ISR payload may beremotely operated or, alternatively, may be independently controlled.The ISR payload may include a radar system, electro-optical/infrared(EO/IR) sensors, processors, cameras, microphones, speakers, and othergadgetry to perform a mission. The payload 208 may include various othersystems or devices such as supplies for people, or other cargo to bedropped off or carried to a location. The size of the payload 208 may bedependent upon the size of the UAV. A larger UAV 100 may be capable ofcarrying a larger payload 208.

The UAV 100 may include a retention device 212. In some embodiments, theretention device 212 may be proximate the tail fin 110. The retentiondevice 212 may hold the wings 104, 106 in a folded configuration. Forexample, the retention device 212 may releasably couple with a matingfeature on each wing 104, 106 when the wings 104, 106 are folded (seeFIGS. 3B and 3D). For example, the wings 104, 106 may each have a notchor recess, which may couple with the retention device 212. Tensionapplied to the retention device 212 may maintain the connection. In someembodiments, the retention device 212 may be spring loaded and may havea first position and a second position. The first position may engagethe wings 104, 106 in a folded and/or closed configuration. The secondposition may be a released position in which the wings 104, 106 are inan operable or unfolded configuration. In some embodiments, theretention device 212 may be used to store the UAV 100 in a storagecontainer such as a canister or pod. Once the UAV 100 is placed within astorage container, a user may manually disengage the retention device212. In other embodiments, the retention device 212 may automaticallydisengage as the UAV 100 is released from the canister. In otherembodiments, the retention device 212 may be operated between connectedand released positions by operating an actuator from a remote location,or based on a control signal originating from a processor/controlleronboard the UAV 100.

The UAV 100 may include a radio 210 and an antenna 214. The radio 210and antenna 214 may be a part of the avionics 204 or may be a separatecomponent or components. The radio 210 and antenna 214 may becommunicatively coupled with the avionics 204 to assist with, forexample, steering and reprogramming or directing of the UAV 100. In someembodiments, the antenna 214 may be located external the fuselage 102.In other embodiments, the antenna 214 may be located internal to the UAV100.

FIG. 3 is an example of an unmanned aerial vehicle 300 which may belaunched from a multitude of locations. The UAV 300 may have similarfeatures and characteristics as the UAV 100 described with reference toFIGS. 1 and 2. The UAV 300 may be stored in a canister and/or pod fortransport and/or launching.

The UAV 300 may include a fuselage 302, wings 304, 306 and a propeller308. The UAV 300 may additionally include a tail fin (not shown). TheUAV 300 may include a hinge 318 located central to the UAV 300 which mayenable the wings 304, 306 to pivot or scissor relative to the fuselage302 as indicated by arrows A. The pivot or scissoring movement in thedirection A may include rotation of the wings 304, 306 about rotationaxes that are oriented perpendicular to a length dimension of thefuselage 302. In a collapsed state (e.g., see FIG. 3B), the wings 304,306 may align with and/or overlap the fuselage 302.

Depending on the desired mission of the UAV 300 and size of the UAV 300,the UAV 300 may additionally include one or more wing joints 314, 316 onthe wings 304, 306. The wing joints 314, 316 may enable the wings 304,306 to fold onto themselves (e.g., a first portion of a wing foldingrelative to, and on to, a second portion of the same wing). Thisconfiguration may allow a larger wingspan to fit within a relativelysmall storage compartment or launching pod.

The wing joints 314, 316 may include hinges such that the wings 304, 306fold onto themselves. The wing joints 314, 316 may alternativelycomprise a variety of other joints such as pivot joints, saddle joints,planar joints, slider joints, or the like. For example, the wing joints314, 316 may include slider joints such that the wings 304, 306telescope inward. In one embodiment, the axis of the wing joints 314,316 (i.e., the axis about which a first wing portion folds relative to asecond wing portion) may be substantially perpendicular to a forwardedge of the wings 304, 306. In other embodiments, the wing joints 314,316 may be canted such that the wing joints 314, 316 form an obtuseangle in relation to the fuselage 302 when the wings 304, 306 have beendeployed about the hinge 318 associated with the fuselage 302.Generally, the wing joints 314, 316 may provide pivot axes that areoriented substantially parallel with a length dimension of the fuselage302 when the wings 304, 306 are in the fully deployed position shown inFIG. 3A.

The wings 304, 306 may include multiple joints such that the wings 304,306 may double fold or pivot, or otherwise be lengthened. The fuselage302 may incorporate additional wings (not shown) such as horizontalstabilizers, tail planes, elevators, or the like. The additional wingsmay be hinged and/or pivot mounted such that an overall collapsed stateof the UAV 300 remains within a predetermined space envelope.

FIGS. 3B and 3C show a top down view and a forward-looking-aft view,respectively, of the exemplary UAV 300 in a folded configuration withthe wings 304, 306 each folded on themselves (about wing joints 314,316, respectively) as well as being pivoted relative to the fuselageabout hinge 318. This compact configuration may enable the UAV 300 tofit within a relatively small storage container or deployment pod.

As can be seen, the wings 304, 306 condense and fold such that, in FIG.3B, the fuselage 302 is barely visible from a top down view. The wings304, 306 may be considered to be in a stored, folded, fully retracted,collapsed, or undeployed position in the arrangement of FIG. 3B. Thewings 304, 306 may be aligned with and/or overlapping the fuselage 302.A retention device 320 may be proximate a first wing spar 322 and/or asecond wing spar 324. The retention device 320 may retain the wings 304,306 in a folded configuration. For example, the first wing spar 322 andsecond wing spar 324 may include a knob 326, 328 (FIG. 3D) which maycouple to the retention device 320 in a folded configuration.

Additionally, as seen in FIG. 3C, the collapsed envelope of the wings304, 306 is about as wide (e.g., not much wider than) as the fuselage302. The wings 304, 306 and fuselage 302 sizes may vary depending uponmission and end use, but in a condensed stated, the wings 304, 306 andfuselage 302 may be comparably sized to form a compact collapsedpackage.

FIGS. 3D and 3E depict an aft looking forward view of the exemplary UAV300. In FIG. 3D, the UAV 300 is shown in a collapsed stated with thewings 304, 306 folded. The retention device 320 is shown as a pair ofelongated members forming a substantially V-shape. The retention device320 may comprise a spring. For example, the elongated members maycomprise a flexible material such that in a collapsed state, theelongated members store energy which is released when the UAV 300 isreleased from the canister. In other embodiments, the retention device320 may comprise multiple components. For example, the retention device320 may incorporate a first device to retain the wings in a foldedposition and a second device, such as a spring, to push the wings 304,306 into an operational position. In some embodiments, knobs 326, 328may be proximate the wing spars 322, 324. The knobs may have a notch orother feature to releasably connect to the retention device 320. A tailwing 310 is shown pivoted about a hinge 311 into a stowed positionarranged extending along the side surface of the fuselage.

In FIG. 3E, the UAV 300 is shown transitioning from a collapsed state toan operational state. The retention device 320 has released the knobs326, 328 and exerted a force on the wing spars 322, 324 to aid the wings304, 306 in unfolding.

FIGS. 4A and 4B show a side view of an exemplary UAV 400. The UAV 300may have similar features and characteristics as the UAV 100 describedwith reference to FIGS. 1, 2, and/or 3. The UAV 400 may be stored in acanister and/or pod for transport and/or launching.

The UAV 400 may include a fuselage 402, wings 404, 406 and a propeller408. The UAV 400 may additionally include a tail fin 410 that isconnected to a rear or tail end of the fuselage 402 with a hinge 411.The hinge 411 is arranged at a canted angle relative to a lengthdimension of the fuselage 402. The UAV 400 may include a pivot joint(e.g. pivot joint 118, FIG. 1; hinge 318, FIG. 3) located central to theUAV 400 which may enable the wings 404, 406 to pivot or scissor relativeto the fuselage 402. In a collapsed state (e.g., see FIG. 4A), the wings404, 406 may align with and/or overlap the fuselage 402. A removablehatch 420 proximate a top side of the fuselage may be in a collapsedstate when the wings 404, 406 are in a folded configuration.

The hatch 420 may be removed completely from the fuselage 402 to enableaccess to one or more interior components of the UAV. The hatch 420 maymovably attach to the fuselage 402. For example, in a collapsed state, atop surface 422 of hatch 420 may be arranged substantially parallel to atop surface 424 of the fuselage 402. In some embodiments, the wings 404,406 may provide a retaining force on the hatch 420 to hold the hatch 420in a collapsed state. In other embodiments, one or more retentiondevices may hold the hatch 420 in a collapsed state.

As shown in FIG. 4B, in an operational state, a front end 426 of thehatch 420 is in a raised position. For example, the hatch 420 may becanted such that the top surface 422 is no longer substantially planarto the top surface 424 of the fuselage 402. Instead, a spring 428 orother device may raise the front end 426 of the hatch 420 such that thefront end 426 of the hatch 420 is substantially parallel with the wings404, 406 when the UAV 400 is viewed from a side angle. The top surface422 of the hatch 420 may then slope towards the top surface 424 of thefuselage 402 at a rear end 430 of the hatch 420. The rear end 430 of thehatch 420 may be pivotally and/or removably coupled to the fuselage 402.This may enable the hatch 420 to change positions from a collapsed stateto an operational state while also allowing the hatch 420 to becompletely removable from the fuselage 402.

FIGS. 5A-5H depict an example of a UAV 500 at various stages of an airlaunch sequence. The UAV 500 may have similar features as the UAV 100,300 described with reference to FIGS. 1-3. The UAV 500 may be stored ina canister 520. The canister 520 may be classified as cargo and may beeasily transportable. The canister 520 may comprise, for example, arelatively sturdy, four-sided box. In other embodiments, the canister520 may comprise a cylindrical housing, a soft-walled housing, a fabrichousing, or the like.

FIG. 5A shows a canister 520 as it would appear in an unlaunched,transport state. The canister 520 may be light enough to betransportable by a single person. The canister 520 may be easilyreleased from a fixed wing aircraft. For example, the canister 520 maybe manually disembarked from a fixed wing aircraft. A person may throwor otherwise deploy the canister 520 from the aircraft. The canister 520may additionally be launched using a launching device or may be deployedfrom a belli-pod or similar cargo device mounted external to an aircraftfuselage. The aircraft may be in flight which may result in the canister520 descending towards earth once deployed from the aircraft.

As the canister 520 begins its descent, control surfaces, or stabilizingdrag surfaces 522 may deploy from an aft end of the canister 520. Thestabilizing drag surfaces 522 may be any shape or contortion and may aidin stabilizing the canister 520 during its descent such as decreasingfree spin during the descent. Depending upon the elevation of the dropfrom the aircraft or other location, the canister 520 may release adrogue chute 524 on its aft end. The drogue chute 524 may be a parachutethat operates to slow the descent of the canister 520. The drogue chute524 may be manually released (e.g., using an electronically actuatedrelease mechanism, a timer, a remote control, an elevation detectionunit, or the like). Alternatively, the drogue chute 524 may beautomatically released based on one or more criteria (e.g., detecteddecent velocity, time period from when deployed from the aircraft,etc.).

As the drogue chute 524 is released, the UAV 500 may undergo a completesystem start and diagnostic sequence. The UAV 500 may begin to exit thecanister 520 from a forward end (e.g., a lower end, as viewed in FIGS.5A-5B) of the canister 520. A nose 526 of the fuselage is visible inFIG. 5B.

FIG. 5C shows the UAV 500 fully exited from the canister 520. At thispoint, the fuselage 502 has cleared the canister 520 but may still beattached to the canister 520 via a lanyard 528 or other connectiondevice. The lanyard 528 may continue to stabilize the UAV 500 until itis fully functional. For example, the lanyard 528 may maintainattachment of the UAV 500 to the canister 520, whose descent is beingslowed via the drogue chute 524. The UAV 500 typically is slowed by thedrogue chute 524 until UAV 500 is fully operational. This arrangementmay limit the possibility that the UAV 500 descends at an overly rapidrate or prematurely achieves full deployment in high wind conditionsthat may cause damage to the UAV 500.

As soon as the fuselage 502 and folded wings 504, 506 clear the confinesof the canister 520, the wings 504, 506 may begin to unfold.Specifically, the wings 504, 506 begin to pivot about a hinge 518associated with the fuselage (e.g., pivot joint 118 or hinge 318described above). In other configurations, the wings 504, 506 may beadditionally or alternatively held into place by a locking mechanism,which may need to be selectively released. For example, a retentiondevice 530 may have exerted a force on the wings 504, 506, beginningwhen the wings 504, 506 transition to an operational state. As the UAVdescends, the wings 504, 506 may pivot about hinge 518 into anoperational position. During descent, the propeller, which may becollapsed in a stored position, may additionally be released orotherwise unlocked from a stored position and may lock into anoperational condition.

FIG. 5D shows the wings 504, 506 unfolding further as the canister 520and UAV 500 continue to descend. As the wings 504, 506 begin to reach afully deployed and operational position relative to the fuselage, firstand second wing members 550, 552 of each of the wings 504, 506 may beginto unfold to an operational length. For example, as described above, thewings 504, 506 may be pivotally mounted on the fuselage 502 about hinge518. In one embodiment, the pivot joint may be spring-loaded such thatwhen the wings 504, 506 are released or exit the canister 520, the wings504, 506 are biased to pivot or scissor about a pivot joint outward fromthe fuselage to reach an operational position. The operational positionmay be conceptually transverse to the fuselage 502. The operationalposition may additionally and/or alternatively comprise aft swept orforward swept airfoils. The retention device 530 may be ejected from thefuselage 502 once the wings 504, 506 reach an operational state.

As the wings 504, 506 experience drag during descent, the wings 504, 506may unfold about their wing joints (e.g., wing joints 114, 116 and 314,316 described above) as shown in FIG. 5E. For example, aerodynamicforces may aid the wings 504, 506 in unfurling to an operational length.In some embodiments, the unfolding of the wings may be aided by abiasing member or other mechanical system. In one embodiment, the outerwing members 552 of the wings 504, 506 are folded beneath the inner wingmember 550 of the wings 504, 506 so that the wings do not begin tounfold until the pivoting of the wings 504, 506 relative to the fuselageabout hinge 518 is complete. Such a configuration may enable passive,automatic wing deployment since the outer wing members 552 need to clearthe fuselage (e.g., after pivoting of the wings 504, 506 to the fuselage502) before unfolding.

FIG. 5F shows the UAV 500 with its wings 504, 506 in a fully deployedand operational position (both pivoted relative to the fuselage andunfolded). The tail fin 510 may additionally unfold from a storedposition as shown in FIG. 5G. Once the UAV 500 has fully unfolded and isin operational position, the UAV 500 may release the lanyard 528connecting it to the canister 520.

FIG. 5H shows the UAV 500 completely released from the canister 520 andoperating. The UAV 500 may be remotely controlled or may be autonomous.The UAV 500 may then perform its mission or may provide for recreationalor commercial use.

FIG. 6 is a cutaway view of an exemplary pivot joint 600 that may beused to couple a first wing 602 and a second wing 604 to a fuselage 606of a UAV. The first wing 602 and second wing 604 may each include a thruhole 608, 610 sized and configured to accept a pin 612. The pin 612 mayhave a shoulder 614 on a first end 616, and the shoulder 614 may rest ona chamfer 618 in the first wing 602.

The pin may be threaded at a second end 620, opposite the first end 616.The threads 622 may mate with a threaded portion 624 of the fuselage606. The threaded portion 624 of the fuselage 606 may be integral to thefuselage 606. For example, the threaded portion 624 may form a seamlessassembly with the fuselage 606. In some embodiments, the threadedportion 624 may be internal to the fuselage 606. In another embodiment,the threaded portion 624 may be welded or otherwise adhered to thefuselage 606. The threaded portion 624, in some instances, may be aseparate piece such as a nut or other female threaded member which maybe internal to the fuselage 606 and may couple the pin 612 to thefuselage 606.

FIGS. 7A, 7B, and 7C show an exemplary joint mechanism 700 for a foldingwing. The wing may comprise two or more pieces, each joined by a hingeor joint mechanism 700. The joint mechanism 700 may connect a first wingspar 704 with a second wing spar 706. The first wing spar 704 or secondwing spar 706 may be coupled to the fuselage. The first wing spar 704may be coupled to the fuselage. In a collapsed state, as shown in FIG.7A, a bottom 710 of the first wing spar 704 may face a bottom 712 of thesecond wing spar 706. In other embodiments, the first and second wingspars 704, 706 may have top sides facing in a collapsed position. Inanother embodiment, the wing may have multiple joints which mayaccordion wing spars together. Each wing on a UAV may be a mirror imageof an oppositely positioned wing (i.e. fold identically) or may bereversed.

The first wing spar 704 may have a first brace 714 and the second wingspar 706 may have a second brace 716. The braces 714, 716 may providerelative structural stability to the wing spars 704, 706 as they unfold.The braces 714, 716 may also be hinged together. For example, the braces714, 716 may include a fulcrum 718, a pivot 720, and a lever arm 722.The lever arm 722 may rotate about the fulcrum 718 and slide generallyin the direction indicated by arrow B in a groove 724 formed in thefirst wing spar 704. A spring (not shown) may be attached to the leverarm 722 and may cause a pulling force in the direction of the arrow B.The pulling force may provide an initial opening moment force forunfolding the wing.

FIG. 7B shows the lever arm 722 partially rotated about the fulcrum 718.The second wing spar 706 may rotate about the pivot 720 as shown byarrow C. FIG. 7B also shows the lever arm 722 beginning to move alongarrow B in the groove 724.

FIG. 7C shows the wing in an operational, open position. A lockingmechanism 726 may include a groove 728 which may couple to a biasedpivoting latch member 729 on the second wing spar 706. The lockingmechanism 726 may maintain the wing's open, operational position. Insome embodiments, the joint mechanism 700 may be canted (or pivot aboutan axis that is canted) at an angle away from the fuselage. This may aidthe wing in unfolding during descent by creating desired aerodynamicforces on the unfolded portion of the wing.

The wing may unfold using an elastic spring force. For example, the wingmay be held in a folded position when stored in a canister (e.g.,canister 520). When the wing fully exits the canister, a spring or otherbiasing member (not shown) may act on the folded wing and force the wingto begin to unfold.

FIG. 8 is an example of a simplified block diagram of a UAV system 800as a whole. The system 800 may include a payload pod launcher 802, ahost aircraft, 804 and a ground station 806. The payload pod launcher802 may include a canister 808 and a UAV 810. The UAV 810 may includefeatures described with reference to FIGS. 1-6.

The payload pod launcher 802 may include heater controls 812 and aheater 814. The heater 814 may provide heat to the UAV 810 stored withinthe canister 808. For example, at high altitudes, low temperatures maybe present, which may inhibit certain functions of the stored UAV 810.The heater 814 may provide heat to the UAV 810, or the enclosure withinwhich UAV 810 is stored, that helps ensure proper function of the UAV810 components when the UAV is activated.

The payload pod launcher 802 may also include a pod interface 815. Thepod interface 815 may provide an interface with the canister 808. Theinterface may be a communications interface which may enable thecanister 808 to be launched from the payload pod launcher 802. Forexample, an ejection mechanism 816 may be triggered to launch thecanister 808 from the payload pod launcher 802. In alternativeembodiments, the canister 808 may be launched without the use of apayload pod launcher 802.

The payload pod launcher 802 may additionally include a payload podinterface 818. If a payload pod launcher 802 is used to launch acanister 808, the interface 818 may enable the host aircraft 804 toremotely control the payload pod launcher 802.

The canister 808 may include a drogue chute 828 and one or more controlsurfaces (not shown). The drogue chute 828 may be released from thecanister 808 during descent and act as a parachute that slows thecanister's 808 speed as it journeys to the earth. The UAV 810 may beincluded within the canister 808 such as has been described above. TheUAV 810 may include a canister release 824, a canister interface 820, anavionics and payload suite 822, and a data link 826. The canisterrelease 824 may activate a release mechanism to release the UAV 810 fromthe canister 808. The avionics and payload suite 822 may include variousavionics and payloads as discussed with reference to FIG. 2. The datalink 826 may comprise a communications system and antenna such asdiscussed with reference to FIG. 2.

The host aircraft 804 may include launcher controls 832, a data link830, a mission computer laptop 834, and an operator 836. The operator836 may be flying the aircraft 804. The operator 836 may be onboard theaircraft 804 as in a manned system or may be remotely controlling theaircraft 804. For example, the aircraft 804 may be a larger unmannedaerial vehicle which may launch a smaller UAV 810. The mission laptopcomputer 834 and data link 830 may provide communication with the UAV810. The pod launch controls 832 may control the launcher 802 and becommunicatively coupled via the payload pod interface 818.

The ground station 806 may include a data link 838, a mission computerlaptop 840 and an operator 842. Data links 826, 830, 838 may bewirelessly connected to each other via communication links 844.

FIG. 9 illustrates an example of an alternative launch mechanism thatmay be used in connection with at least some of the systems and devicesdisclosed herein. The UAV 900 may be mounted atop a terrestrial vehicle902 using one or more mounting apparatus 904. Once the wings 906, 908experience enough lift as the terrestrial vehicle 902 achieves certainspeed, the UAV 900 may take flight. The UAV 900 may be collapsible to bemobile, and may be storable in a canister or pod. Typically, the UAV 900is manually removed from its pod prior to being mounted to theterrestrial vehicle 902. The pod may classify the UAV 900 as cargo,which may provide ease of transporting the UAV 900.

FIGS. 10A-10C show alternative embodiments of connecting folding wingsfor use in potential extended duration flight patterns. The embodimentsmay include various numbers of wings and locations for joining the wingsto the fuselage. The wings may contain one or more hinge joints tofurther expand the wingspan upon deployment from a pod.

For example, a first variation of the UAV 1000-a may include a first andsecond pair of wings 1004-a, 1006-a. The wings 1004-a, 1006-a may bepivotally mounted to the fuselage 1002-a via one or more pivot joints1008-a.

A second variation of the UAV 1000-b may include a single pair of wings1004-b attached to the fuselage 1002-b via a pivot joint 1008-b. Thewings 1004-b may include at least one hinge (folding) joint 1010-b. Insome embodiments, each wing 1004-b may include multiple hinge joints1014-b. The UAV 1000-b may include a tail fin 1012-b.

A third variation of the UAV 1000-c may include a mounting bracket1016-c which may be coupled to the fuselage 1002-c. The wings 1004-c maybe pivotally coupled to the mounting bracket 1016-c via one or morepivot joints 1008-c. The wings 1004-c may additionally include at leastone hinge joint 1010-c which may enable the wings 1004-c to fold. TheUAV 1000-c may also include a tail fin 1012-c.

Various inventions have been described herein with reference to certainspecific embodiments and examples. However, they will be recognized bythose skilled in the art that many variations are possible withoutdeparting from the scope and spirit of the inventions disclosed herein,in that those inventions set forth in the claims below are intended tocover all variations and modifications of the inventions disclosedwithout departing from the spirit of the inventions. The terms“including:” and “having” come as used in the specification and claimsshall have the same meaning as the term “comprising.”

What is claimed is:
 1. An unmanned aerial vehicle (UAV), comprising: afuselage; a first wing and a second wing each having a first main wingbody and a second main wing body, each of the first main wing bodieshaving a first end configured to be mounted to a top side of thefuselage, and a second end opposite the first end; a first jointpositioned at the first end of the first main wing bodies, the firstjoint rotatably coupling the first and second wings to the fuselage topermit the first main wing bodies to rotate from a retracted positionaligned parallel with the fuselage to a forward rotated positionextending at an angle relative to the fuselage, the first jointconnecting the first and second wings to the vehicle at a single pivotpoint; a second joint positioned at the second end of each of the firstmain wing bodies; the second main wing bodies are rotatably coupled tothe first main wing bodies via the second joint, the second jointpermitting the second main wing bodies to rotate from a stowed positionin a downward and outward direction relative to the first main wingbodies and into a deployed position in alignment with the first mainbody; a folding tail pivotally connected to the fuselage at a cantedhinge line relative to a longitudinal dimension of the fuselage suchthat the tail is movable from a stowed orientation extending along thelongitudinal dimension along a side of the fuselage to a deployedorientation extending at a right angle to the longitudinal dimension; adrogue chute coupled to a tail end of the fuselage to suspend thefuselage during transformation of the vehicle from a stowedconfiguration to a flight configuration using aerodynamic forces todeploy the first and second wings and the tail.
 2. The unmanned aerialvehicle of claim 1, wherein the first joint is a pin joint and thesecond joint is a hinge joint.
 3. The unmanned aerial vehicle of claim2, wherein the hinge joint comprises: a lever arm; a fulcrum positionedon the first main wing body about which the lever arm pivots; a pivotjoint connecting the lever arm to the second main wing body.
 4. Theunmanned aerial vehicle of claim 3, wherein the hinge joint furthercomprises: a tension element connected to the lever arm and positionedto exert an unfolding moment force to the second main wing body.
 5. Theunmanned aerial vehicle of claim 1, further comprising: a lockingmechanism, the locking mechanism operable to lock the first main wingbody and the second main wing body in an operable condition.
 6. Theunmanned aerial vehicle of claim 5, wherein the locking mechanismfurther comprises: a groove formed in a first wing spar; a latch memberformed in a second wing spar.
 7. The unmanned aerial vehicle of claim 1,wherein the canted hinge line is canted at a 45 degree angle to thelongitudinal dimension.
 8. The unmanned aerial vehicle of claim 1,wherein the first end of the first main wing body is pivotally coupledto a top side of the fuselage with a single axis wing pin.
 9. Theunmanned aerial vehicle of claim 1, wherein a bottom side of the firstmain wing body faces a bottom side of the second main wing body when thewing is in a collapsed position.
 10. A method of deploying an unmannedaerial vehicle (UAV), the method comprising: providing the unmannedaerial vehicle with a fuselage, first and second wings, a folding tail,and a drogue chute, the first and second wings each including first andsecond wing spars, the first and second wings being mounted to a topside of the fuselage at a common location with a single pin connectionthat connects the first and second wings to each other and to thefuselage; rotating the first and second wings from a retracted positionin alignment with a longitudinal dimension of the fuselage in a forwarddirection about the pin connection and into an extended positionarranged at an angle relative to the fuselage; rotating the second wingspar about a hinge connection from a stowed position overlapping andbelow the first wing spar in a downward and away direction relative tothe first wing spar and into a deployed position in alignment with thefirst wing spar; locking the first wing spar and the second wing spar inan operable position; rotating the folding tail about a hinge line thatis cantered relative to a longitudinal dimension of the fuselage, thetail being movable from a stowed orientation extending along thelongitudinal dimension along a side of the fuselage to a deployedorientation extending at a right angle to the longitudinal dimension;wherein the drogue chute is coupled at a tail end of the fuselage tosuspend the fuselage during transformation of the vehicle from a stowedconfiguration to a flight configuration using aerodynamic forces todeploy the first and second wings and the tail.
 11. The method accordingto claim 10, further comprising: providing a canister; inserting the UAVin the canister; deploying the UAV from the canister prior to rotatingthe first and second wings, the second spars, or the folding tail. 12.The method according to claim 11, further comprising: putting thecanister with inserted UAV in a free fall state; slowing the descent ofthe canister with inserted UAV prior to deploying the UAV.
 13. Themethod according to claim 12, wherein slowing the descent furthercomprises deploying the drogue chute, the drogue chute being attached toan aft-end of the canister.
 14. The method of claim 11, furthercomprising: putting the canister with inserted UAV in a free fall state;deploying stabilizing drag surfaces at an aft end of the canister priorto deploying the UAV.
 15. The method of claim 11, further comprising:opening a hatch proximate a fore-end of the canister; wherein deployingthe UAV from the canister includes deploying the UAV through the hatch.16. The method of claim 11, further comprising: after deploying the UAVfrom the canister: deploying a propeller of the UAV; releasing a lanyardconnecting the UAV to the canister; transitioning the UAV to flight. 17.An unmanned aerial vehicle comprising: a fuselage; first and secondwings each comprising: a first wing member pivotally coupled to thefuselage with a first pivot joint, the first pivot joint providing asingle connection point for connecting both of the first and secondwings to the fuselage, the first pivot joint including a single pinconnection, the first wing member being rotatable in a forward directionabout the first pivot joint between a first position arranged inalignment with a longitudinal dimension of the fuselage and a secondposition arranged at an angle relative to the fuselage; a second wingmember pivotally coupled to the first wing member with a second pivotjoint, the second pivot joint including a hinge connection, the secondwing member being rotatable between a stowed position below andoverlapping with the first wing member, and a deployed position rotateddownward and outward and into alignment with the first wing member;wherein the first and second wings are each movable duringtransformation of the vehicle from a stowed configuration to a flightconfiguration using aerodynamic forces.
 18. The unmanned aerial vehicleof claim 17, wherein the first wing member is pivotable about a firstaxis oriented perpendicular to a length dimension of the fuselage, andthe second wing member is pivotable about a second axis orientedparallel with the length dimension of the fuselage.
 19. The unmannedaerial vehicle of claim 17, wherein the second wing is positionedbetween the fuselage and the first wing when the first wing members arein the first position.
 20. The unmanned aerial vehicle of claim 19,wherein the common connection point for the first and second wings tothe fuselage is defined by the pin connection.
 21. The unmanned aerialvehicle of claim 17, further comprising a folding tail pivotallyconnected to the fuselage at a canted hinge line relative to alongitudinal dimension of the fuselage such that the tail is movablefrom a stowed orientation extending along a side of the fuselage in thelongitudinal dimension to a deployed orientation extending at a rightangle to the longitudinal dimension of the fuselage.
 22. The unmannedaerial vehicle of claim 21, wherein the tail is movable into thedeployed orientation after the first wing members move from the firstposition into the second position.